Cleaning system and control method thereof

ABSTRACT

A cleaning system including a guiding object and a cleaning robot is disclosed. The guiding object includes a magnet to form a magnetic field. The cleaning robot includes an operation module, a first sense module and a control module. The operation module performs a cleaning action and a moving action according to a control signal. The first sense module generates a first sensed signal according to the magnetic field. The control module generates the control signal to adjust an efficiency of at least one of the cleaning action and the moving action according to the first sensed signal.

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of U.S. Provisional Application No. 61/606,106 filed on Mar. 2, 2012, and Taiwan Patent Application No. 101127709, filed on Aug. 1, 2012, the entirety of which is incorporated by reference herein.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The invention relates to a cleaning system, and more particularly, to a cleaning system utilizing a cleaning robot.

2. Description of the Related Art

Cleaning floors take a lot of time. To reduce the time for cleaning a floor, many cleaning devices have been developed, such as a broom, a mop and so forth. However, the cleaning devices must be manually operated for cleaning. Thus, conventional cleaning devices are inconvenient.

With technological development, many electronic devices have been developed, such as robots. Taking a cleaning robot as an example, the cleaning robot can autonomously execute a cleaning action. A user is not required to manually operate the cleaning robot to clean a floor. Thus, the cleaning robot has gradually replaced conventional cleaning devices. Generally, a conventional method of a cleaning robot utilizes a virtual wall to limit the traveling path of the cleaning robot and utilizes a docking station for charging the cleaning robot. However, if the cleaning robot cannot obtain an accurate position of the virtual wall or the docking station, the cleaning robot may collide with the virtual wall or cannot immediately connect to the docking station.

BRIEF SUMMARY OF THE INVENTION

In accordance with an embodiment, a cleaning system comprises a guiding object and a cleaning robot. The guiding object comprises a magnet to form a magnetic field. The cleaning robot comprises an operation module, a first sense module and a control module. The operation module performs a cleaning action and a moving action according to a control signal. The first sense module generates a first sensed signal according to the magnetic field. The control module generates the control signal to adjust an efficiency of at least one of the cleaning action and the moving action according to the first sensed signal.

An exemplary embodiment of a control method for a cleaning robot is described in the following. A magnet module is disposed in a guiding object to form a magnetic field. The magnetic field is sensed to generate a sensing result and a first sensed signal is generated according to the sensing result. An efficiency of at least one of a cleaning action and a moving action is controlled according to the first sensed signal.

A detailed description is given in the following embodiments with reference to the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention can be more fully understood by referring to the following detailed description and examples with references made to the accompanying drawings, wherein:

FIG. 1 is a schematic diagram of an exemplary embodiment of a cleaning system

FIG. 2 is a schematic diagram of an exemplary embodiment of a control method of the invention; and

FIG. 3 is a schematic diagram of another exemplary embodiment of a control method of the invention

DETAILED DESCRIPTION OF THE INVENTION

The following description is of the best-contemplated mode of carrying out the invention. This description is made for the purpose of illustrating the general principles of the invention and should not be taken in a limiting sense. The scope of the invention is best determined by reference to the appended claims.

FIG. 1 is a schematic diagram of an exemplary embodiment of a cleaning system. The cleaning system 100 comprises a guiding object 110 and a cleaning robot 130. In this embodiment, the guiding object 110 comprises a magnet module 111 to form a magnetic field. In one embodiment, the magnet module 111 comprises at least one NdFeB magnet 113.

The invention does not limit the function of the guiding object 110. In this embodiment, the guiding object 110 is capable of guiding the cleaning robot 130. In one embodiment, the guiding object 110 is a virtual wall to limit the traveling path of the cleaning robot 130. In another embodiment, the guiding object 110 is a docking station for charging the cleaning robot 130.

The cleaning robot 130 comprises an operation module 131, a sense module 132 and a control module 133. The operation module 131 performs a cleaning action and a moving action according to a control signal. The invention does not limit the circuit structure of the operation module 131. Any element can be contained in the operation module 131, as long as the element is capable of performing a cleaning action or a moving action. In this embodiment, the operation module 131 comprises a cleaning brush 134, wheels 135, 136, and a suction aperture 137. The cleaning brush 134 and the suction aperture 137 execute a cleaning action. The wheels 135 and 136 execute a moving action.

The sense module 132 generates a sensed signal according to the magnetic field generated by the magnet module 111. In this embodiment, the sense module 132 is disposed at a lateral side of the cleaning robot 130, but the disclosure is not limited thereto. In other embodiments, the sense module 132 can be disposed at any position of the cleaning robot 130, as long as the sense module 132 is capable of sensing the magnetic field. Additionally, the invention does not limit the circuit structure of the sense module 132. In one embodiment, the sense module 132 comprises at least one of a compass sensor, a Hall sensor, a gyroscope and a g sensor.

The control module 133 generates the control signal to adjust an efficiency of at least one of the cleaning action and the moving action according to the first sensed signal.

For example, the control module 133 controls the speed and the direction of the wheels 135 and 136 to stop or start the cleaning robot 130 or adjust the moving speed or the traveling path of the cleaning robot 130 according to the sensing signal generated by the sense module 132. In one embodiment, the moving speed of the cleaning robot 130 may be increased or reduced. In other embodiments, the control module 133 controls the cleaning robot 130 to rotate or cruise.

In addition, the control module 133 controls the speed of the cleaning brush 134, and the suction or the air flow of the suction aperture 137 to adjust the efficiency of the cleaning action of the cleaning robot 130 according to the sensed signal generated by the sense module 132.

In this embodiment, when the cleaning robot 130 approaches the guiding object 110, the sense module 132 can sense a magnetic field and the magnetic field is strong. Contrarily, when the cleaning robot 130 leaves the guiding object 110, no magnetic field can be sensed by the sense module 132 or the sense module 132 barely senses a magnetic field.

In one embodiment, assuming that the guiding object 110 is a virtual wall. When the cleaning robot 130 approaches the guiding object 110, the control module 133 controls the traveling path of the cleaning robot 130 according to the sensed signal generated by the sense module 132. In other words, the control module 133 controls the speed and the direction of the wheels 135 and 136.

In another embodiment, assuming that the guiding object 110 is a docking station. When a power level of a storage module (not shown) of the cleaning robot 130 is less than a pre-determined level, the control module 133 controls the wheels 135 and 136 to move to the guiding object 110. The storage module may be a rechargeable battery. The cleaning robot 130 can obtain an accurate position of the guiding object 110 according to the sensed signal generated by the sense module 132 and move to approach the guiding object 110.

In some embodiments, the control module 133 obtains the state of the cleaning robot 130 according to the sensed signal generated by the sense module 132. For example, when a duration in which a variation of the sensed signal generated by the sense module 132 is less than a pre-determined value exceeds to a pre-determined period, this represents that the cleaning robot 130 is at a fixed place. In one embodiment, the cleaning robot 130 may be locked at the fixed place. In this case, the control module 133 controls the direction of the wheels 135 and 136 to shake the cleaning robot 130 such that the cleaning robot 130 leaves the fixed place.

Furthermore, the control module 133 sends an audio effect or a light effect to display the operation state of the cleaning robot 130. For example, when the cleaning robot 130 is at a fixed place, the control module 133 may control a buzzer (not shown) to buzz and send a warning signal or a warning light to notify users, such that the users may immediately determine that an abnormal event has occurred and eliminate the abnormal event.

To optimize the traveling path of the cleaning robot 130, the cleaning robot 130 further comprises another sense module 137 in one embodiment. The sense module 137 generates another sensed signal according to an external environment of the cleaning robot 130. The control module 133 adjusts the efficiency of at least one of the cleaning action and the moving action of the operation module 131 according to the other sensed signal generated by the sense module 137.

For example, when the control module 133 obtains that the cleaning robot 130 is at a fixed place according to the sensed signal generated by the sense module 132, the control module 133 adjusts the direction of the wheels 135 and 136 to shake the cleaning robot 130 and then adjusts the traveling path of the cleaning robot 130 according to the sensed signal generated by the sense module 137 such that the cleaning robot 130 leaves the fixed place.

The invention does not limit the circuit structure of the sense module 137. In one embodiment, the sense module 137 comprises a photo sensor. The photo sensor generates a sensed signal according to a reflected light of the external environment. In another embodiment, the sense module 137 comprises an audio sensor, such as an ultrasonic sensor. The audio sensor generates a sensed signal according to a reflected audio wave of the external environment.

FIG. 2 is a schematic diagram of an exemplary embodiment of a control method of the invention. First, a magnet module is disposed in a guiding object to form a magnetic field (step S210). In one embodiment, at least one NdFeB magnet is disposed in the guiding object, but the disclosure is not limited thereto. In other embodiments, other kinds of magnets may be disposed in the guiding object.

The magnetic field is sensed (step S220). In one embodiment, step S220 utilizes at least one of a compass sensor, a Hall sensor, a gyroscope and a g sensor to sense the magnetic field.

The efficiency of at least one of a cleaning action and a moving action performed by a cleaning robot is controlled according to the sensed signal (step S230). In one embodiment, step 230 controls the speed of a cleaning brush 134, or the suction or the air flow of a suction aperture 137 for controlling the cleaning action of the cleaning robot. Furthermore, step 230 controls the speed and the direction of wheels of the cleaning robot for controlling the moving action.

FIG. 3 is a schematic diagram of another exemplary embodiment of the control method of the invention. FIG. 3 is similar to FIG. 2, except for the addition of steps S340 and S350. Since steps S310˜S330 shown in FIG. 3 and step S210˜S230 shown in FIG. 2 have the same principles, descriptions of steps S310˜S330 are omitted for brevity.

In step S340, it is determined whether a duration, which a variation of the sensed signal generated by step S320 is less than a pre-determined value in exceeds to a pre-determined period. When the duration, which the variation of the sensed signal generated by step S320 is less than the pre-determined value in exceeds to the pre-determined period, this represents that the cleaning robot is at a fixed place. Thus, an external environment of the cleaning robot is sensed to generate a sensing result, and the efficiency of at least one of the cleaning action and the moving action is adjusted according to the sensing result (step S350).

For example, when the cleaning robot is locked at a fixed place, the moving action is first adjusted to shake the cleaning robot. Then, another sense module is utilized to sense the external environment of the cleaning robot to generate another sensing result. The traveling path of the cleaning robot is adjusted according to the other sensing result such that the cleaning robot leaves the fixed place. Additionally, when the cleaning robot is at a fixed place, the cleaning action is stopped. After the cleaning robot leaves the fixed place, the cleaning action is performed.

In one embodiment, step S350 utilizes a photo sensor, and the photo sensor senses a reflected light of the external environment of the cleaning robot. In another embodiment, step S350 utilizes an audio sensor to sense a reflected audio wave of the external environment of the cleaning robot.

When the duration, which the variation of the sensed signal generated by step S320 is less than the pre-determined value in does not exceed to the pre-determined period, this represents that the cleaning robot is not at a fixed place and is operating normally. Thus, step S320 is performed to sense the variation of the sensed signal and then control at least one of the cleaning action and the moving action according to the sensing result. Furthermore, after executing step S350, step S320 is performed to sense the magnet field.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

While the invention has been described by way of example and in terms of the preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments. To the contrary, it is intended to cover various modifications and similar arrangements (as would be apparent to those skilled in the art). Therefore, the scope of the appended claims should be accorded the broadest interpretation so as to encompass all such modifications and similar arrangements. 

What is claimed is:
 1. A cleaning system, comprising: a guiding object comprising a magnet to form a magnetic field; and a cleaning robot comprising: an operation module performing a cleaning action and a moving action according to a control signal; a first sense module generating a first sensed signal according to the magnetic field; and a control module generating the control signal to adjust an efficiency of at least one of the cleaning action and the moving action according to the first sensed signal.
 2. The cleaning system as claimed in claim 1, wherein the guiding object is a virtual wall.
 3. The cleaning system as claimed in claim 1, wherein the guiding object is a docking station.
 4. The cleaning system as claimed in claim 3, wherein the operation module comprises a plurality of wheels to execute the moving action, and the cleaning robot further comprises a storage module, and when a power of the storage module is less than a pre-determined value, the control module controls the wheels to move to the docking station.
 5. The cleaning system as claimed in claim 1, wherein the first sense module comprises at least one of a compass sensor, a Hall sensor, a gyroscope and a g sensor.
 6. The cleaning system as claimed in claim 1, wherein the cleaning robot further comprises: a second sense module generating a second sensed signal according to an external environment of the cleaning robot, wherein when a duration in which a variation of the first sensed signal is less than a pre-determined value exceeds to a pre-determined period, the control module adjusts the efficiency of at least one of the cleaning action and the moving action according to the second sensing signal.
 7. The cleaning system as claimed in claim 6, wherein the second sense module comprises a photo sensor generating the second sensed signal according to a reflected light of the external environment.
 8. The cleaning system as claimed in claim 6, wherein the second sense module comprises an audio sensor generating the second sensed signal according to a reflected audio wave of the external environment.
 9. The cleaning system as claimed in claim 1, wherein the magnet module comprises at least one NdFeB magnet.
 10. A control method for a cleaning robot, comprising: disposing a magnet module in a guiding object to form a magnetic field; sensing the magnetic field to generate a sensing result and generating a first sensed signal according to the sensing result; and controlling an efficiency of at least one of a cleaning action and a moving action according to the first sensed signal.
 11. The control method as claimed in claim 10, wherein the sensing step is to utilize at least one of a compass sensor, a Hall sensor, a gyroscope and a g sensor to sense the magnetic field.
 12. The control method as claimed in claim 10, further comprising: sensing an external environment of the cleaning robot to generate a second sensed signal; and when a duration in which a variation of the first sensed signal is less than a pre-determined value exceeds to a pre-determined period, adjusting the efficiency of at least one of the cleaning action and the moving action according to the second sensing signal.
 13. The control method as claimed in claim 12, wherein the sensing step is to utilize a photo sensor, and the photo sensor senses a reflected light of the external environment to generate the second sensed signal.
 14. The control method as claimed in claim 12, wherein the sensing step is to utilize an audio sensor, and the audio sensor senses a reflected audio wave of the external environment to generate the second sensed signal.
 15. The control method as claimed in claim 10, wherein the disposing step is to dispose at least one NdFeB magnet in the guiding object. 